public void AddArc(ArcInfo arcInfo, double velocity)
{
var target = ConvertToPulse(arcInfo);
_mc.AddArcXYC(2, (short)_coordinateId, target.X, target.Y,
target.ArcCenterToXStartOffset, target.ArcCenterToYStartOffset,
velocity, target.Acceleration);
}
public void DrawArc(ArcInfo arcInfo)
{
lock (_motionLocker)
{
ClearInterpolationBuffer();
AddArc(arcInfo);
CheckEnoughSpace();
StartInterpolation();
WaitTillInterpolationEnd();
}
}
public ArcInfoPulse ConvertToPulse(ArcInfo arcInfo)
{
arcInfo.CalculateCenterOffset();
return(new ArcInfoPulse()
{
X = (int)(MotorX.EncoderFactor * arcInfo.XEnd * MotorX.Direction),
Y = (int)(MotorY.EncoderFactor * arcInfo.YEnd * MotorY.Direction),
Z = (int)(MotorZ.EncoderFactor * arcInfo.Z * MotorZ.Direction),
ArcCenterToXStartOffset =
(int)(MotorX.EncoderFactor * arcInfo.CenterToStartXOffset * MotorX.Direction),
ArcCenterToYStartOffset =
(int)(MotorY.EncoderFactor * arcInfo.CenterToStartYOffset * MotorY.Direction),
Velocity = MotorX.Velocity,
Acceleration = MotorX.Acceleration,
});
}
public async Task <WaitBlock> DrawArcAsync(ArcInfo arcInfo)
{
return(await Task.Run(() =>
{
try
{
DrawArc(arcInfo);
return new WaitBlock()
{
Message = "ShotGlueAsync Successful."
};
}
catch (Exception ex)
{
return new WaitBlock()
{
Code = ErrorCode.GlueLineFail, Message = "ShotGlueAsync fail: " + ex.Message
};
}
}));
}
